About the velocity command

[Junfeng-Long]

Very impressed to see your demonstration on CoRL, it seems that the robot's velocity is controllable in both x and y direction in the demonstration, but the paper and code only take velocity in x-axis as input, is it done by the alternate of two policy or an new method not in the paper?

[chengxuxin]

Hi, the direction command can be from either the policy or the joystick.